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Implement sim devices for ADXL345, ADXL362, ADXRS450, Ultrasonic

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This makes the halsim_adx_gyro_accelerometer simulation plugin and
the accelerometer part of lowfi_simulation obsolete.
This commit is contained in:
Peter Johnson
2019-09-29 00:57:16 -07:00
parent aa90645865
commit a9f0e46680
42 changed files with 371 additions and 1337 deletions
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19
wpilibc/src/main/native/cpp/Ultrasonic.cpp
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@@ -98,7 +98,10 @@ void Ultrasonic::Ping() {
m_pingChannel->Pulse(kPingTime);
}
bool Ultrasonic::IsRangeValid() const { return m_counter.Get() > 1; }
bool Ultrasonic::IsRangeValid() const {
if (m_simRangeValid) return m_simRangeValid.Get();
return m_counter.Get() > 1;
}
void Ultrasonic::SetAutomaticMode(bool enabling) {
if (enabling == m_automaticEnabled) return; // ignore the case of no change
@@ -135,10 +138,12 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
}
double Ultrasonic::GetRangeInches() const {
if (IsRangeValid())
if (IsRangeValid()) {
if (m_simRange) return m_simRange.Get();
return m_counter.GetPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
else
} else {
return 0;
}
}
double Ultrasonic::GetRangeMM() const { return GetRangeInches() * 25.4; }
@@ -177,6 +182,14 @@ void Ultrasonic::InitSendable(SendableBuilder& builder) {
}
void Ultrasonic::Initialize() {
m_simDevice = hal::SimDevice("Ultrasonic", m_echoChannel->GetChannel());
if (m_simDevice) {
m_simRangeValid = m_simDevice.CreateBoolean("Range Valid", false, true);
m_simRange = m_simDevice.CreateDouble("Range (in)", false, 0.0);
m_pingChannel->SetSimDevice(m_simDevice);
m_echoChannel->SetSimDevice(m_simDevice);
}
bool originalMode = m_automaticEnabled;
SetAutomaticMode(false); // Kill task when adding a new sensor
// Link this instance on the list